/********************************************************************************
 * Copyright 2009 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#include "CollisionFreeSampler.hpp"

#include <rw/proximity/CollisionDetector.hpp>

using namespace rw::proximity;
using namespace rwsim::util;

CollisionFreeSampler::CollisionFreeSampler(StateSampler::Ptr sampler,
                                           CollisionDetector::Ptr detector, int n) :
    _sampler(sampler), _detector(detector), _n(n)
{

}

CollisionFreeSampler::~CollisionFreeSampler(){}

bool CollisionFreeSampler::sample(rw::kinematics::State& state){
    bool colfree = false;
    int maxTries = _n;
    do{

        if(!_sampler->sample(state))
            return false;

        colfree = _detector->inCollision(state,NULL,true);

        if(maxTries>0)
            maxTries--;

    } while(colfree && maxTries!=0);

    if(maxTries == 0)
        return false;

    return true;
}

